CN105425835A - Dielectric high-elastic polymer actuator-based antenna pose adjustment and control system - Google Patents
Dielectric high-elastic polymer actuator-based antenna pose adjustment and control system Download PDFInfo
- Publication number
- CN105425835A CN105425835A CN201511024109.XA CN201511024109A CN105425835A CN 105425835 A CN105425835 A CN 105425835A CN 201511024109 A CN201511024109 A CN 201511024109A CN 105425835 A CN105425835 A CN 105425835A
- Authority
- CN
- China
- Prior art keywords
- control system
- dielectric
- actuator
- plane driver
- elastic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
Abstract
The invention relates to a dielectric high-elastic polymer actuator-based antenna pose adjustment and control system. The dielectric high-elastic polymer actuator-based antenna pose adjustment and control system comprises an upper planar actuator, a lower planar actuator, and a plurality of linear actuators which are installed at the periphery of a position between the upper planar actuator and the lower planar actuator; the dielectric high-elastic polymer actuator-based antenna pose adjustment and control system further comprises a man-machine interactive control system used for controlling the actuators to realize antenna attitude adjustment; a controlled antenna is vertically installed at the middle portions of the upper planar actuator and the lower planar actuator; the man-machine interactive control system can control voltage applied to the linear actuators and the planar actuators respectively through keys and a handle, so that linear displacement and in-plane displacement can be generated, and therefore, swing and translation of the antenna can be realized, and sensitivity-adjustable antenna attitude adjustment can be realized. The dielectric high-elastic polymer actuator-based antenna pose adjustment and control system has the advantages of low cost, light weight, flexibility, no noise and the like. The dielectric high-elastic polymer actuator-based antenna pose adjustment and control system can work in a strong magnetic field environment and generate large displacement and rotation angles. A control method is simple and flexible and can satisfy requirements of attitude adjustment under specific occasions.
Description
Technical field
A kind of antenna pose of the present invention regulator control system, is specifically related to a kind of antenna pose regulator control system based on the high-elastic polymer actuator of dielectric.
Background technology
In recent years along with the development of space science technology, various miniaturization spaces equipment is as skin satellite, and distributed space station etc. continue to bring out, corresponding small space flexibility equipment is impelled to arise at the historic moment, as solar panel, the flexible antennas solar energy sailboard on grapefruit satellite equipment, the flexible mechanical arm etc. on space station, the most size of this class formation is large, quality is light, and amount of deflection is large, significantly flexible, and this class formation often needs to carry out pose adjustment, reach required particular job state.This just needs driver to realize the output of certain displacement or angle, hydraulic pressure design maintenance difficulty in conventional ADS driving mode, need cylinder, the utility appliance such as gas-holder, motor drives needs the arrangements for speed regulation such as speed reduction unit, and driven Design controls complicated, its performance is also difficult to normally work in a lot of space environment, as strong magnetic field circumstance.In addition, traditional type of drive also all along with noise and stronger vibration, has a negative impact to the duty of space light flexible device.
In recent years, a kind of novel intelligent material---the high-elastic polymkeric substance of dielectric causes to be paid close attention to widely, and this material is a kind of high molecular polymer with backbone, Maxwell's stress effect is subject under extraneous electro photoluminescence, produce very large electric field induced strain, have quality in addition light, energy density is high, fast response time, adaptive capacity to environment is strong, and the advantages such as noiseless is pollution-free, can adopt voltage Direct driver, utility appliance is few, and it is convenient to control.
With dielectric elastomer polymer for driver prepared by basic function material, and the physical construction of particular demands is met by design, simple assembling just can make antenna posture adjustment adjusting mechanism, the circuit that bamboo product is special, coordinate each driver by control voltage input, control linear actuator generation straight-line displacement and adjust sensitivity, be aided with man-machine interactive interface, just controlledly flexibly can realize miniaturization space structure, as the adjustment of the pose of antenna.
Summary of the invention:
In order to overcome above-mentioned prior art Problems existing, the present invention proposes a kind of antenna pose regulator control system based on the high-elastic polymer actuator of dielectric, by the output of the large corner of three-dimensional Large travel range of 6-dof motion platform, realize miniaturization space structure, the pose as antenna adjusts.
In order to achieve the above object, the present invention adopts following technical scheme:
A kind of antenna pose regulator control system based on the high-elastic polymer actuator of dielectric, comprise plane driver 2 and lower plane driver 4, be arranged on multiple linear actuators 3 of border between plane driver 2 and lower plane driver 4, also comprise for driver control to realize the man-machine interactive control system of antenna pose adjustment; Controlled antennas 1 is vertically mounted on plane driver 2 and lower plane driver 4 centre position;
Described linear actuator 3 comprises hollow end cap 5, be fixed on the spring 7 being in compressive state in hollow end cap 5 cavity, scribble on the outer cylinder surface being wrapped in end cap 5 uniformly after the prestretched such as twin shaft such as the first rectangular dielectric high-elastic thin polymer film 6 grade of PEDOT:PSS high molecular polymer electrode; When applying voltage at the first rectangular dielectric high-elastic thin polymer film 6 upper and lower surface PEDOT:PSS high molecular polymer electrode, the high-elastic thin polymer film 6 of first rectangular dielectric is owing to being subject to the effect of electric field force, rigidity reduces, and the spring 7 of compression is discharged, thus forms straight-line displacement;
Described upper plane driver 2 is identical with the structure of lower plane driver 4, comprise internal fixtion circle 8 and extenal fixation circle 11, the high-elastic thin polymer film 9 of second dielectric is after leaving standstill and be arranged between internal fixtion circle 8 and extenal fixation circle 11 after carrying out waiting twin shaft prestretched uniformly, multiple PEDOT:PSS high molecular polymer electrode 10 symmetry be arranged on the second dielectric high-elastic thin polymer film 9 upper and lower surface; The high-elastic thin polymer film 9 of second dielectric produces electrostrictive under the driving of voltage, and such controlled antennas 1 will produce displacement;
Described man-machine interactive control system comprises the telemetry circuit based on Atmega256 single-chip microcomputer, the 12 road pwm signals that connect successively and turns DC voltage module, power amplifier module and high pressure amplifying and off-load module, breath light display section and human-computer interaction interface; Described upper plane driver 2 and lower plane driver 4 and linear actuator 3 are connected to high pressure amplifying and off-load intermodule; Described pwm signal turns 12 conversion chips that DC voltage module adopts LTC2645-L12, the single conversion time is less than 40us, after the PWM ripple of its different duty exported by telemetry circuit based on Atmega256 single-chip microcomputer is converted to digital signal, is converted to DC simulation signal by DAC and inputs to power amplifier module; Power amplifier module adopts OPA544T chip, answers radiation fin in using; High pressure amplifying is linear voltage amplifier, and the simulating signal that power amplifier module exports is amplified 1600 times by it; Off-load module adopts the power resistor of resistance value in 120M Europe to 180M Europe, for providing the earial drainage loop of on-load voltage on the high-elastic polymkeric substance of dielectric.
The high-elastic thin polymer film of described first rectangular dielectric 6 and the high-elastic thin polymer film 9 of the second dielectric have incompressibility, and its macromolecule matrix is acrylic acid.
Described multiple PEDOT:PSS high molecular polymer electrode 10 is divided into and is divided into four sector regions, each region shape, size is all identical and in plane symmetry distribution, and its thickness is evenly and be no more than 1mm; When described upper plane driver 2 is installed with lower plane driver 4, each sector electrode region is corresponding consistent in locus.
The material of described internal fixtion circle 8 and extenal fixation circle 11 is lightweight polyphenyl alkene plastics, ensures that plane driver total quality is less.
The circular-hole internal-wall that described internal fixtion circle 8 contacts with controlled antennas 1 scribbles railway grease, reduces the friction between controlled antennas 1 and internal fixtion circle 8, ensures the compliance of relative motion between the two.
Described linear actuator 3 is four, is arranged on same height, and is evenly distributed.
Described human-computer interaction interface comprises for difference output corner signal, the rocking bar of translation signal, sensitivity adjustment button and upper computer software; Sensitivity adjustment button is for exporting the control signal of linear actuator 3, thus the upper spacing between plane driver 2 and lower plane driver 4 of adjustment, realizes the adjustment of controlled antennas 1 corner variation range under equal control signal; The host computer man-machine interactive software adopted adopts Labview to write, serial ports is utilized input parameter to be sent to telemetry circuit based on Atmega256 single-chip microcomputer, distinguish output duty cycle and pendulum angle after treatment, displacement, the pwm signal that key press time is directly proportional, and show with LED breath light, realize the configuration based on dielectric high-elastic polymer actuator antenna pose regulator control system controling parameters.
Compared to the prior art comparatively, the present invention possesses following advantage:
1. voltage driven, equipment is simple, and it is convenient to control, and cost is low.
2. lightweight, flexible, displacement corner is larger.
3. fast response time, noise-less pollution, adaptive capacity to environment is strong.
4. vibration is less, little on control objectives impact.
Figure of description
Fig. 1 is the structural representation that the present invention is based on space 6-dof motion platform in dielectric high-elastic polymer actuator antenna pose regulator control system.
Fig. 2 the present invention is based on a linear actuator structural representation and its sectional view in dielectric high-elastic polymer actuator antenna pose regulator control system.
Fig. 3 the present invention is based on a planar driver structure schematic diagram and its sectional view in dielectric high-elastic polymer actuator antenna pose regulator control system.
Fig. 4 is the schematic diagram that the present invention is based on dielectric high-elastic polymer actuator antenna pose regulator control system embodiment.
Fig. 5 is the structured flowchart that the present invention is based on man-machine interactive control system in dielectric high-elastic polymer actuator antenna pose regulator control system.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to protection scope of the present invention.As Figure 1-3, a kind of antenna pose regulator control system based on the high-elastic polymer actuator of dielectric of the present invention, comprise four linear actuators 3, upper plane driver 2 and lower plane driver 4, and for the control and drive system coordinated movement of various economic factors to realize the man-machine interactive control system of antenna pose adjustment, controlled antennas 1 is arranged in the middle of plane driver 2 and lower plane driver 4, keeps vertical by the internal fixtion circle 8 of macromolecule bracing frame.During work, be applied to the voltage of about 4 groups counter electrodes in upper plane driver 2 and lower plane driver 4 by man-machine interactive control system cooperation control, can X be realized, the translation of Y both direction and around the rotation of Z axis and the swing around X and Y two axles; By controlling to be applied to the voltage on corresponding four linear actuators 3, the distance between two plane drivers can be changed, thus swing corresponding output angle with controlled antennas 1 under regulating identical on-load voltage, finally realizing the adjustment of sensitivity.
As shown in Figure 1, the present invention is a kind of to be needed completely the same based on plane driver 2 upper in the antenna pose regulator control system of the high-elastic polymer actuator of dielectric and lower plane driver 4, and during installation, each sector electrode part is corresponding consistent in locus; 4 linear actuators 3 are arranged on same height, and are evenly distributed on circumferentially same, keep vertically and not flexible simultaneously.
As shown in Figure 2, for regulating the linear actuator 3 of sensitivity mainly to comprise hollow end cap 5, spring 7 in the present invention, scribble the high-elastic thin polymer film 6 of the first dielectric of PEDOT:PSS high molecular polymer electrode.Wherein end cap is used for fixing spring 7 up and down, and keep hollow end cap 5 coaxial with spring 7, spring 7 two ends are fixed in the cylindrical groove of hollow end cap 5, make it be in certain compressive state, and the friction of upper and lower end cap cylindrical inner wall and spring 7 is less; And scribble on the outer cylinder surface being wrapped in hollow end cap 5 uniformly after the prestretched such as twin shaft such as the first rectangular dielectric high-elastic thin polymer film 6 grade of PEDOT:PSS high molecular polymer electrode, and fix with fixing fitting, form the sidewall of linear actuator 3, when applying voltage at the first rectangular dielectric high-elastic thin polymer film 6 upper and lower surface PEDOT:PSS high molecular polymer electrode, film is owing to being subject to the effect of electric field force, rigidity reduces, and the spring of compression is discharged, thus forms straight-line displacement.
As shown in Figure 3, upper plane driver 2 and lower plane driver 4 are made up of the internal fixtion circle 8 of macromolecule bracing frame and the PEDOT:PSS high molecular polymer electrode 10 of the high-elastic thin polymer film of extenal fixation circle 11, second dielectric 9 and the high-elastic polymer film top and bottom of dielectric.The high-elastic thin polymer film 9 of second dielectric should carry out waiting twin shaft prestretched uniformly in a pre-installation, and is arranged between the internal fixtion circle 8 of macromolecule bracing frame, extenal fixation circle 11 after leaving standstill; The PEDOT:PSS high molecular polymer electrode 10 of dielectric elastomer polymer material both sides spin coating is divided into and is divided into 4 sector regions, each region shape, size is all identical and in plane symmetry distribution, and thickness of electrode should evenly and be no more than 1mm; The material that the internal fixtion circle 8 of macromolecule bracing frame and extenal fixation circle 11 use is lightweight polyphenyl alkene plastics, ensures that plane driver total quality is less; The circular-hole internal-wall that the internal fixtion circle 8 of macromolecule bracing frame contacts with controlled antennas 1 scribbles railway grease, reduces the friction between antenna and internal fixtion circle 8, ensures the compliance of relative motion between the two.
As the preferred embodiment of the present invention, the high-elastic thin polymer film of the first rectangular dielectric 6 that linear actuator peace face driver uses and the high-elastic thin polymer film 9 of the second dielectric, have incompressibility, its macromolecule matrix is acrylic acid.
Specific works process of the present invention is as shown in Fig. 4 a ~ 4d.As shown in fig. 4 a, to choose in plane driver 2 and lower plane driver 4 corresponding two groups of adjacent sector electrodes and apply control voltage, the high-elastic thin polymer film 9 of second dielectric produces electrostrictive under the driving of voltage, and such controlled antennas 1 will produce the displacement of X or Y-direction; As shown in Figure 4 b, choose plane driver 2 and lower plane driver 4 and apply voltage apart from two arrays of electrodes farthest, the dielectric elastomeric body thin film that then base part is corresponding produces the contrary electrostrictive in direction under the driving of voltage, thus forms the rotation around X or Y-axis; As illustrated in fig. 4 c, when 4 cube electrodes corresponding in upper plane driver 2 and lower plane driver 4 are by clockwise or counterclockwise first after-applied voltage, controlled antennas 1 will be made to produce rotary motion around Z-direction.More than be and keep upper and lower two plane drivers apart from constant result; As shown in figure 4d, by applying voltage on four linear actuators, after 4 linear actuators 3 produce the displacement of Z-direction, the distance of upper plane driver 2 and lower plane driver 4 changes, just achieve plane driver 2 with under identical on-load voltage on lower plane driver 4 accordingly, the change of controlled antennas 1 pendulum angle, namely swings the regulating and controlling voltage of sensitivity.
As shown in Figure 5, the present invention is a kind of comprises the telemetry circuit based on Atmega256 single-chip microcomputer based on man-machine interactive control system in dielectric high-elastic polymer actuator antenna pose regulator control system, 12 road pwm signals turn DC voltage module, power amplifier module, high pressure amplifying, off-load module, breath light display section and human-computer interaction interface.Man-machine interactive control system adjusts the control voltage loaded on linear actuator and plane driver respectively by button and handle, produce straight-line displacement and plane displacement respectively, thus realize antenna swing and translation, reach this target of sensitivity adjustable antenna pose adjustment.
As the preferred embodiment of the present invention, pwm signal turns 12 conversion chips that DC voltage module adopts LTC2645-L12, the single conversion time is less than 40us, after the PWM ripple of its different duty exported by telemetry circuit based on Atmega256 single-chip microcomputer is converted to digital signal, is converted to DC simulation signal by DAC and inputs to power amplifier module; Power amplifier module adopts OPA544T chip, answers radiation fin in using; High pressure amplifying is linear voltage amplifier, and the simulating signal that power amplifier module exports is amplified 1600 times by it.Off-load module adopts the power resistor of resistance value in 120M Europe to 180M Europe, for providing the earial drainage loop of on-load voltage on the high-elastic polymkeric substance of dielectric.
Human-computer interaction interface comprises for difference output corner signal, the rocking bar of translation signal, sensitivity adjustment button and upper computer software; Sensitivity adjustment button is for exporting the control signal of linear actuator, on-load voltage along with two longer difference of key press time more and more higher or lower, thus the spacing between adjustment plane driver 2 and 4, realize the adjustment of antenna corner variation range under equal control signal; The host computer man-machine interactive software adopted adopts Labview to write, serial ports is utilized input parameter to be sent to telemetry circuit based on Atmega256 single-chip microcomputer, distinguish output duty cycle and pendulum angle after treatment, displacement, the pwm signal that key press time is directly proportional, and show with LED breath light, thus realize the configuration based on dielectric high-elastic polymer actuator antenna pose regulator control system controling parameters.
Claims (7)
1. the antenna pose regulator control system based on the high-elastic polymer actuator of dielectric, it is characterized in that: comprise plane driver (2) and lower plane driver (4), be arranged on multiple linear actuators (3) of border between plane driver (2) and lower plane driver (4), also comprise for driver control to realize the man-machine interactive control system of antenna pose adjustment; Controlled antennas (1) is vertically mounted on plane driver (2) and lower plane driver (4) centre position;
Described linear actuator (3) comprises hollow end cap (5), be fixed on the spring (7) being in compressive state in hollow end cap (5) cavity, be wrapped on the outer cylinder surface of end cap (5) uniformly after scribbling the twin shaft prestretcheds such as the high-elastic thin polymer film of first rectangular dielectric (6) of PEDOT:PSS high molecular polymer electrode; When applying voltage at the first rectangular dielectric high-elastic thin polymer film (6) upper and lower surface PEDOT:PSS high molecular polymer electrode, the high-elastic thin polymer film of first rectangular dielectric (6) is owing to being subject to the effect of electric field force, rigidity reduces, the spring (7) of compression is discharged, thus forms straight-line displacement;
Described upper plane driver (2) is identical with the structure of lower plane driver (4), comprise internal fixtion circle (8) and extenal fixation circle (11), the high-elastic thin polymer film of second dielectric (9) is after leaving standstill and be arranged between internal fixtion circle (8) and extenal fixation circle (11) after carrying out waiting twin shaft prestretched uniformly, multiple PEDOT:PSS high molecular polymer electrode (10) symmetry be arranged on the second dielectric high-elastic thin polymer film (9) upper and lower surface; The high-elastic thin polymer film of second dielectric (9) produces electrostrictive under the driving of voltage, and such controlled antennas (1) will produce plane displacement;
Described man-machine interactive control system comprises the telemetry circuit based on Atmega256 single-chip microcomputer, the 12 road pwm signals that connect successively and turns DC voltage module, power amplifier module and high pressure amplifying and off-load module, breath light display section and human-computer interaction interface; Described upper plane driver (2) and lower plane driver (4) and linear actuator (3) are connected to high pressure amplifying and off-load intermodule; Described pwm signal turns 12 conversion chips that DC voltage module adopts LTC2645-L12, the single conversion time is less than 40us, after the PWM ripple of its different duty exported by telemetry circuit based on Atmega256 single-chip microcomputer is converted to digital signal, is converted to DC simulation signal by DAC and inputs to power amplifier module; Power amplifier module adopts OPA544T chip, answers radiation fin in using; High pressure amplifying is linear voltage amplifier, and the simulating signal that power amplifier module exports is amplified 1600 times by it; Off-load module adopts the power resistor of resistance value in 120M Europe to 180M Europe, for providing the earial drainage loop of on-load voltage on the high-elastic polymkeric substance of dielectric.
2. the antenna pose regulator control system based on the high-elastic polymer actuator of dielectric according to claim 1, it is characterized in that: the high-elastic thin polymer film of described first rectangular dielectric (6) and the high-elastic thin polymer film of the second dielectric (9) have incompressibility, and its macromolecule matrix is acrylic acid.
3. the antenna pose regulator control system based on the high-elastic polymer actuator of dielectric according to claim 1, it is characterized in that: described multiple PEDOT:PSS high molecular polymer electrode (10) is divided into four sector regions, each region shape, size is all identical and in plane symmetry distribution, and its thickness evenly and be no more than 1mm; When described upper plane driver (2) is installed with lower plane driver (4), each sector electrode region is corresponding consistent in locus.
4. the antenna pose regulator control system based on the high-elastic polymer actuator of dielectric according to claim 1, it is characterized in that: the material of described internal fixtion circle (8) and extenal fixation circle (11) is lightweight polyphenyl alkene plastics, ensure that plane driver total quality is less.
5. the antenna pose regulator control system based on the high-elastic polymer actuator of dielectric according to claim 1, it is characterized in that: the circular-hole internal-wall that described internal fixtion circle (8) contacts with controlled antennas (1) scribbles railway grease, reduce the friction between controlled antennas (1) and internal fixtion circle (8), ensure the compliance of relative motion between the two.
6. the antenna pose regulator control system based on the high-elastic polymer actuator of dielectric according to claim 1, is characterized in that: described linear actuator (3) is four, is arranged on same height, and is evenly distributed.
7. the antenna pose regulator control system based on the high-elastic polymer actuator of dielectric according to claim 1, it is characterized in that: described human-computer interaction interface comprises for difference output corner signal, the rocking bar of translation signal, sensitivity adjustment button and upper computer software; Sensitivity adjustment button is for exporting the control signal of linear actuator (3), thus the upper spacing between plane driver (2) and lower plane driver (4) of adjustment, realize the adjustment of controlled antennas (1) corner variation range under equal control signal; The host computer man-machine interactive software adopted adopts Labview to write, serial ports is utilized input parameter to be sent to telemetry circuit based on Atmega256 single-chip microcomputer, distinguish output duty cycle and pendulum angle after treatment, displacement, the pwm signal that key press time is directly proportional, and show with LED breath light, realize the configuration based on dielectric high-elastic polymer actuator antenna pose regulator control system controling parameters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511024109.XA CN105425835B (en) | 2015-12-30 | 2015-12-30 | A kind of antenna pose regulator control system based on the high-elastic polymer actuator of dielectric |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511024109.XA CN105425835B (en) | 2015-12-30 | 2015-12-30 | A kind of antenna pose regulator control system based on the high-elastic polymer actuator of dielectric |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105425835A true CN105425835A (en) | 2016-03-23 |
| CN105425835B CN105425835B (en) | 2018-01-16 |
Family
ID=55504102
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201511024109.XA Expired - Fee Related CN105425835B (en) | 2015-12-30 | 2015-12-30 | A kind of antenna pose regulator control system based on the high-elastic polymer actuator of dielectric |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105425835B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106371467A (en) * | 2016-10-31 | 2017-02-01 | 榆林学院 | Multi-angle oscillating test platform with characteristic vertical lifting |
| CN106737567A (en) * | 2017-02-22 | 2017-05-31 | 西安交通大学 | A kind of Ultralight robot driven based on dielectric elastomer resonator |
| CN108566115A (en) * | 2018-05-30 | 2018-09-21 | 华南理工大学 | A kind of small-sized complete submissive rotary motion platform based on dielectric elastomer |
| CN113002658A (en) * | 2021-03-02 | 2021-06-22 | 天津大学 | Electrically driven walking device |
| WO2023097777A1 (en) * | 2021-12-02 | 2023-06-08 | 中国科学院深圳先进技术研究院 | Flexible driving apparatus |
| CN116787486A (en) * | 2023-08-24 | 2023-09-22 | 山东大学 | Magnetically flexible joint based on dielectric elastomer soft sensor pose feedback |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1909401A (en) * | 2006-08-07 | 2007-02-07 | 西安交通大学 | Beam switching intelligent antenna device |
| CN103954394A (en) * | 2014-03-10 | 2014-07-30 | 西安交通大学 | Flexible pressure sensor based on dielectric high-elastic polymer, and method for sensing pressure |
| CN104577327A (en) * | 2014-12-29 | 2015-04-29 | 陕西烽火电子股份有限公司 | Integrated vehicle-mounted antenna feed system |
| CN204375903U (en) * | 2014-09-03 | 2015-06-03 | 上海创投机电工程有限公司 | 3-UPU bis-turn one moves type parallel institution antenna pedestal |
| CN204720557U (en) * | 2015-05-29 | 2015-10-21 | 中国电子科技集团公司第五十四研究所 | A kind of symmetrical three freedom redundancy drives parallel antenna structure system |
| CN204834875U (en) * | 2015-08-06 | 2015-12-02 | 中国电子科技集团公司第五十四研究所 | Vice face position appearance adjusting device based on stewart formula six -degree -of -freedom parallel mechanism |
-
2015
- 2015-12-30 CN CN201511024109.XA patent/CN105425835B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1909401A (en) * | 2006-08-07 | 2007-02-07 | 西安交通大学 | Beam switching intelligent antenna device |
| CN103954394A (en) * | 2014-03-10 | 2014-07-30 | 西安交通大学 | Flexible pressure sensor based on dielectric high-elastic polymer, and method for sensing pressure |
| CN204375903U (en) * | 2014-09-03 | 2015-06-03 | 上海创投机电工程有限公司 | 3-UPU bis-turn one moves type parallel institution antenna pedestal |
| CN104577327A (en) * | 2014-12-29 | 2015-04-29 | 陕西烽火电子股份有限公司 | Integrated vehicle-mounted antenna feed system |
| CN204720557U (en) * | 2015-05-29 | 2015-10-21 | 中国电子科技集团公司第五十四研究所 | A kind of symmetrical three freedom redundancy drives parallel antenna structure system |
| CN204834875U (en) * | 2015-08-06 | 2015-12-02 | 中国电子科技集团公司第五十四研究所 | Vice face position appearance adjusting device based on stewart formula six -degree -of -freedom parallel mechanism |
Non-Patent Citations (2)
| Title |
|---|
| AWADALLA M, ANEES B: "Developing spring-roll dielectric elastomer actuator system based on optimal design parameters", 《INTERNATIONAL JOURNAL OF COMPUTER SCIENCE ISSUES (IJCSI)》 * |
| 张一超，等: "智能材料DE驱动的两态串并联机器人系统的运动特性", 《机器人》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106371467A (en) * | 2016-10-31 | 2017-02-01 | 榆林学院 | Multi-angle oscillating test platform with characteristic vertical lifting |
| CN106737567A (en) * | 2017-02-22 | 2017-05-31 | 西安交通大学 | A kind of Ultralight robot driven based on dielectric elastomer resonator |
| CN106737567B (en) * | 2017-02-22 | 2019-04-12 | 西安交通大学 | A kind of Ultralight robot based on the driving of dielectric elastomer resonator |
| CN108566115A (en) * | 2018-05-30 | 2018-09-21 | 华南理工大学 | A kind of small-sized complete submissive rotary motion platform based on dielectric elastomer |
| CN113002658A (en) * | 2021-03-02 | 2021-06-22 | 天津大学 | Electrically driven walking device |
| WO2023097777A1 (en) * | 2021-12-02 | 2023-06-08 | 中国科学院深圳先进技术研究院 | Flexible driving apparatus |
| CN116787486A (en) * | 2023-08-24 | 2023-09-22 | 山东大学 | Magnetically flexible joint based on dielectric elastomer soft sensor pose feedback |
| CN116787486B (en) * | 2023-08-24 | 2023-10-27 | 山东大学 | Magnetically flexible joint based on dielectric elastomer soft sensor pose feedback |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105425835B (en) | 2018-01-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105425835A (en) | Dielectric high-elastic polymer actuator-based antenna pose adjustment and control system | |
| CN109323784B (en) | Piezoresistive flexible touch sensor with double-layer buckle type micro-boss | |
| CN103950527B (en) | The piezoelectricity coupling propulsive mechanism of bionical ray pectoral fin | |
| CN103954382B (en) | A kind of change medium-type electric capacity flexible 3 D force-touch sensor | |
| CN101913311B (en) | Multiple motion mode robot and motion mode thereof | |
| CN100581039C (en) | Gas-filled type dielectric elastomer hemi-spherical driver | |
| CN107923371B (en) | Actuator or sensor device based on electroactive or optically active polymers | |
| CN107924989B (en) | Actuator device based on electroactive or photoactive polymers | |
| CN203696998U (en) | Household aged-assisted robot | |
| CN207189652U (en) | A kind of desktop type six degree of freedom arm robot | |
| CN1909017A (en) | Air-actuated muscle motion analog control platform device and posture control method | |
| CN103376662B (en) | Asymmetric aberration compensation device | |
| CN201784421U (en) | Robot with multiple movement modes | |
| CN105438291A (en) | Robot moving platform with deformable tracks | |
| CN112550663B (en) | Deformable wing based on intelligent driving device | |
| CN110194216A (en) | A kind of adaptive Agricultural Robot chassis of dependent moved entirely based on four-wheel | |
| CN103856157A (en) | Photovoltaic-panel two-dimension motion mechanism driven by single motor | |
| CN206734590U (en) | A kind of modular event driven device based on dielectric elastomer | |
| CN103465250A (en) | Micro-robot and micro mobile mechanism | |
| CN105140636A (en) | Wearable omnidirectional/directional pattern reconfigurable antenna | |
| CN112339957A (en) | Modal-driven water strider type bionic robot | |
| CN203092581U (en) | Industrial robot joint | |
| CN203380887U (en) | Multiple-joint bionic machine insect | |
| CN205430090U (en) | Piezoelectricity vibrating running gear | |
| CN204772522U (en) | Bionical manipulator of writing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180116 Termination date: 20211230 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |